Robotics: Science and Systems VI

Back-drivable and Inherently Safe Mechanism for Artificial Finger

K. Koganezawa

Abstract:

This paper shows mechanisms for artificial finger
based on a planetary gear system (PGS). Using the PGS as a
transmitter provides an under-actuated system for driving three
joints of a finger with back-drivability that is a crucial trait for
fingers as an end-effector when it interacts with external
environment. This paper also shows the artificial finger employed
with the originally developed mechanism called âdouble
planetary gear systemâ (DPGS). The DPGS provides not only
back-drivable and under-actuated flexion-extension of the three
joints of a finger, which is identical to the former, but also
adduction-abduction of the MP joint. Both of the above finger
mechanisms are inherently safe due to being back-drivable with
no electric device or sensor in the finger part. They are also
rigorously solvable on kinematics and kinetics as shown in this
Paper.